Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning Applications

Abstract

This work aims at developing and testing a novel Coalitional Distributed Model Predictive Control (C-DMPC) strategy suitable for vehicle platooning applications. The stability of the algorithm is ensured via the terminal constraint region formulation, with robust positively invariant sets. To ensure a greater flexibility, in the initialization part of the method, an invariant table set is created containing several invariant sets computed for different constraints values. The algorithm was tested in simulation, using both homogeneous and heterogeneous initial conditions for a platoon with four homogeneous vehicles, using a predecessor-following, uni-directionally communication topology. The simulation results show that the coalitions between vehicles are formed in the beginning of the experiment, when the local feasibility of each vehicle is lost. These findings successfully prove the usefulness of the proposed coalitional DMPC method in a vehicle platooning application, and illustrate the robustness of the algorithm, when tested in different initial conditions.